Command Source Of Speed Control Mode - Delta Electronics ASDA-A Series User Manual

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Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
6.3 Speed Control Mode
The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as
CNC machine, etc. ASDA-A and ASDA-A+ series servo drives support two kinds of command sources in
speed control mode. One is external analog signal and the other is internal parameter. The external analog
signal is from external voltage input and it can control the speed of servo motor. There are two usage of
internal parameter, one is set different speed command in three speed control parameters before operation
and then using SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial
communication to change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-A and ASDA-A+ series servo
drives also provide complete S-curve profile for speed control mode. For the closed-loop speed control,
ASDA-A and ASDA-A+ series servo drives provide gain adjustment function and an integrated PI or PDFF
controller. Besides, three modes of tuning technology (Manual/Auto/Easy) are also provided for the users to
select (parameter P2-32).
There are three turning modes for gain adjustment: Manual, Auto and Easy modes.
Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.
Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value.
Easy Mode: Robust for wide range of external load inertia change, with ten levels of system stiffness.
Using easy mode can immediately suppress the interference of external load and mechanical
resonance and also stand for the load inertia change.

6.3.1 Command Source of Speed Control Mode

Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
Speed
Command
S1
S2
S3
S4
State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the
speed command is 0. Therefore, if the users do not use analog voltage as speed command, the
6-14
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CN1 DI signal
Command Source
SPD1 SPD0
0 0 Mode
0 1
1 0 Internal parameter
1 1
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External Voltage between V-
S
analog signal REF-GND
Speed command is
Sz N/A
0
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Content Range
+/- 10 V
0
P1-09 +/- 5000r/min
P1-10 +/- 5000r/min
P1-11 +/- 5000r/min
Revision April 2009
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